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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<li class="navelem"><a class="el" href="namespacecalico.html">calico</a></li><li class="navelem"><a class="el" href="classcalico_1_1Pose3.html">Pose3</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">calico::Pose3&lt; T &gt; Class Template Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="typedefs_8h_source.html">typedefs.h</a>&gt;</code></p>
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Public Member Functions</h2></td></tr>
<tr class="memitem:abd61e064aeff4a633c890e1e56ad2ae8"><td class="memItemLeft" align="right" valign="top"><a id="abd61e064aeff4a633c890e1e56ad2ae8"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>Pose3</b> (const Eigen::Quaternion&lt; T &gt; &amp;q, const Eigen::Vector3&lt; T &gt; &amp;t)</td></tr>
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Eigen::Quaternion&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#ab855f93c267acba1f5875b4668cded48">rotation</a> ()</td></tr>
<tr class="memdesc:ab855f93c267acba1f5875b4668cded48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotation accessor. <br /></td></tr>
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const Eigen::Quaternion&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>rotation</b> () const</td></tr>
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Eigen::Vector3&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#a6199524fb9d92c656e8d9f63559c2708">translation</a> ()</td></tr>
<tr class="memdesc:a6199524fb9d92c656e8d9f63559c2708"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translation accessor. <br /></td></tr>
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const Eigen::Vector3&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>translation</b> () const</td></tr>
<tr class="separator:aa3962a0683fb60e23217b1403f7df31d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6d055b87e1fbab123d462ce3a909813"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#ae6d055b87e1fbab123d462ce3a909813">SetRotation</a> (const Eigen::Vector4&lt; T &gt; &amp;q)</td></tr>
<tr class="separator:ae6d055b87e1fbab123d462ce3a909813"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8a2c9c1a0770632078de7bd9598153d"><td class="memItemLeft" align="right" valign="top">Eigen::Vector4&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#af8a2c9c1a0770632078de7bd9598153d">GetRotation</a> () const</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#add435d0528c7c6289bb305652b6e8d14">SetTranslation</a> (const Eigen::Vector3&lt; T &gt; &amp;t)</td></tr>
<tr class="memdesc:add435d0528c7c6289bb305652b6e8d14"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translation setter for python bindings. <br /></td></tr>
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Eigen::Vector3&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#a60a3f483244ced4a3fb1b44cffee4504">GetTranslation</a> () const</td></tr>
<tr class="memdesc:a60a3f483244ced4a3fb1b44cffee4504"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translation getter for python bindings. <br /></td></tr>
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<tr class="memitem:a964eb5b89fed180949a0b4c1073afbca"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#a964eb5b89fed180949a0b4c1073afbca">operator*</a> (const <a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&lt; T &gt; &amp;T_b_a) const</td></tr>
<tr class="separator:a964eb5b89fed180949a0b4c1073afbca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a760caa8c9cdabfd0967d533a5a855d"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#a0a760caa8c9cdabfd0967d533a5a855d">operator*</a> (const Eigen::Vector3&lt; T &gt; &amp;p) const</td></tr>
<tr class="separator:a0a760caa8c9cdabfd0967d533a5a855d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a9bb21c19caa289b5a5ecb4de676313"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#a6a9bb21c19caa289b5a5ecb4de676313">inverse</a> () const</td></tr>
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<tr class="memitem:aa6483bfcfb4dd1daa165d8c6532e095b"><td class="memItemLeft" align="right" valign="top"><a id="aa6483bfcfb4dd1daa165d8c6532e095b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#aa6483bfcfb4dd1daa165d8c6532e095b">isApprox</a> (const <a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&lt; T &gt; &amp;pose) const</td></tr>
<tr class="memdesc:aa6483bfcfb4dd1daa165d8c6532e095b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience method for checking if two poses are close in value. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
Friends</h2></td></tr>
<tr class="memitem:adb9902f9f0af67b1b0a0f6940f423342"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1Pose3.html#adb9902f9f0af67b1b0a0f6940f423342">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&lt; T &gt; &amp;pose)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class calico::Pose3&lt; T &gt;</h3>

<p><a class="el" href="classcalico_1_1Pose3.html">Pose3</a> class. This class mainly serves as a container for \(SE(3)\) rigid body transforms. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="af8a2c9c1a0770632078de7bd9598153d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af8a2c9c1a0770632078de7bd9598153d">&#9670;&nbsp;</a></span>GetRotation()</h2>

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          <td>(</td>
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<p>Rotation getter as a 4-vector for python bindings. Returned quaternion will be in the order \(\left[w, x, y, z\right]\) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6a9bb21c19caa289b5a5ecb4de676313">&#9670;&nbsp;</a></span>inverse()</h2>

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          <td class="memname"><a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&lt;T&gt; <a class="el" href="classcalico_1_1Pose3.html">calico::Pose3</a>&lt; T &gt;::inverse </td>
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<p>Returns the inverse of this transform \(\mathbf{T}^{-1}\). Usage: </p><div class="fragment"><div class="line">Pose3&lt;T&gt; T_rigidbody_world = ...;</div>
<div class="line">Pose3&lt;T&gt; T_world_rigidbody = T_rigidbody_world.inverse();</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0a760caa8c9cdabfd0967d533a5a855d">&#9670;&nbsp;</a></span>operator*() <span class="overload">[1/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const Eigen::Vector3&lt; T &gt; &amp;&#160;</td>
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<p>Operator for transforming an Eigen 3-vector by a <a class="el" href="classcalico_1_1Pose3.html">Pose3</a> object. Usage: </p><div class="fragment"><div class="line">Pose3&lt;T&gt; T_world_rigidbody = ...;</div>
<div class="line">Eigen::Vector3&lt;T&gt; t_rigidbody_point = ...;</div>
<div class="line">Eigen::Vector3&lt;T&gt; t_world_point = T_world_rigidbody * t_rigidbody_point;</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a964eb5b89fed180949a0b4c1073afbca">&#9670;&nbsp;</a></span>operator*() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>T_b_a</em></td><td>)</td>
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<p>Operator for multiplying two <a class="el" href="classcalico_1_1Pose3.html">Pose3</a> objects. Usage: </p><div class="fragment"><div class="line">Pose3&lt;T&gt; T_world_rigidbody = ...;</div>
<div class="line">Pose3&lt;T&gt; T_rigidbody_sensor = ...;</div>
<div class="line">Pose3&lt;T&gt; T_world_sensor = T_world_rigidbody * T_rigidbody_sensor;</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae6d055b87e1fbab123d462ce3a909813">&#9670;&nbsp;</a></span>SetRotation()</h2>

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<p>Rotation setter as a 4-vector quaternion for python bindings. Quaternion vector must be in the order \(\left[w, x, y, z\right]\) </p>

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<h2 class="groupheader">Friends And Related Function Documentation</h2>
<a id="adb9902f9f0af67b1b0a0f6940f423342"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adb9902f9f0af67b1b0a0f6940f423342">&#9670;&nbsp;</a></span>operator&lt;&lt;</h2>

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          <td>(</td>
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          <td class="paramname"><em>os</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const <a class="el" href="classcalico_1_1Pose3.html">Pose3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>pose</em>&#160;</td>
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<p>Operator for printing a <a class="el" href="classcalico_1_1Pose3.html">Pose3</a> object. Usage: </p><div class="fragment"><div class="line">Pose3&lt;T&gt; T = ...;</div>
<div class="line">std::cout &lt;&lt; T &lt;&lt; std::endl;</div>
<div class="line">&gt;&gt; q: w, x, y, z, t: x, y, z</div>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>calico/<a class="el" href="typedefs_8h_source.html">typedefs.h</a></li>
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